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首页> 外文期刊>Fuzzy Systems, IEEE Transactions on >Decentralized Fuzzy Control of Nonlinear Interconnected Dynamic Delay Systems via Mixed $H_2/!H_infty$ Optimization With Smith Predictor
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Decentralized Fuzzy Control of Nonlinear Interconnected Dynamic Delay Systems via Mixed $H_2/!H_infty$ Optimization With Smith Predictor

机译：通过Smith预估器混合$ H_2 /！H_infty $优化对非线性互联动态时滞系统进行分散模糊控制

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摘要

Each subsystem of a nonlinear interconnected dynamic delayed system is approximated by a weighted combination of $L$ transfer function delayed systems (TFDSs). The $H_2$-norm of the difference between the transfer function of a reference model and the closed-loop transfer function of the $k$th TFDS of subsystem $i$ is then minimized to obtain a suitable frequency response without incurring oscillating and sluggish phenomena. Because of the existence of the disturbance at the output of the $k$th TFDS, which is not only large but also contains various frequency components, the $H_infty$-norm of the weighted sensitivity function between the output disturbance and its corresponding output of the $k$th TFDS is simultaneously minimized to reduce its effect. Furthermore, with proper selection of weighted sensitivity functions, certain specific modes of the output disturbance can be eliminated. Finally, two simulations are performed; one is the simulation of our designed TFDSs with different delays or nonminimum phases, and the other is the simulation of an internet-based intelligent space for the trajectory tracking of a car-like wheeled robot system. We demonstrate the effectiveness and efficiency of the proposed control. The main contributions of this paper are twofold. First, the control can simultaneously attain robust performance through the mixed ${{H_2 } mathord{left/ {vphantom {{H_2 } {H_infty }}} right. kern-nulldelimiterspace} {H_infty }}$ optimization with a Smith predictor and achieve the robust stability via $L_2^N$ stable with finite gain. Second, fuzzy observer is not needed.
机译：非线性互连动态延迟系统的每个子系统都由$ L $传递函数延迟系统（TFDS）的加权组合来近似。然后，将参考模型的传递函数与子系统$ i $的$ k $ th TFDS的闭环传递函数之差的$ H_2 $-范数最小化，以获得合适的频率响应，而不会引起振荡和迟滞现象。由于第k个$ TFDS的输出处存在扰动，该扰动不仅很大，而且还包含各种频率分量，因此在输出扰动及其对应的输出之间存在加权灵敏度函数的$ H_infty $范数。同时将第k个TFDS最小化以减小其影响。此外，通过适当选择加权灵敏度函数，可以消除输出干扰的某些特定模式。最后，进行了两个模拟。一种是对我们设计的具有不同延迟或非最小相位的TFDS的仿真，另一种是基于互联网的智能空间的仿真，用于跟踪类似汽车的轮式机器人系统的轨迹。我们证明了所提出的控制的有效性和效率。本文的主要贡献是双重的。首先，控件可以通过混合使用$ {{H_2} mathord {left / {vphantom {{H_2} {H_infty}}} right来同时获得强大的性能。使用Smith预估变量优化kern-nulldelimiterspace}，并通过具有有限增益的$ L_2 ^ N $稳定性实现鲁棒稳定性。其次，不需要模糊观测器。

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